Glider dive log

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 3 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -3 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -76321.961 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2510 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -76321.961

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2510 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 21 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 3 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 205844,6132.844,-829.029,13,1.4,13,-9.0 TGT_NAME FBC_SIL

_CALLS 4 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.143,-0.217

_SM_DEPTHo 0.10 KALMAN_X -90.7,-74.4,-88.8,1212.9,81.8

_SM_ANGLEo -54.8 KALMAN_Y 75.1,460.4,256.6,-1278.0,-146.0

GPS2 211432,6132.884,-828.961,35,1.6,35,-9.0 MHEAD_RNG_PITCHd_Wd 155.6,6386,-17.9,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 806

Post-dive calculations and measurements:

FINISH 0.6,1.027279 XPDR_PINGS 79

SM_CCo 13096,6.50,0.877,0,0,1655,300.00 ALTIM_BOTTOM_PING 752.1,71.0

SM_GC 1.68,0.00,0.00,6.50,0.000,0.000,0.877,36,1892,1655,-11.38,-0.23,300.00 _24V_AH 23.3,12.629

IRIDIUM_FIX 6108.28,-822.48,141107,010120 _10V_AH 10.1,5.255

TT8_MAMPS 0.026845 DATA_FILE_SIZE 31677,629

HUMID 2151 CFSIZE 260165632,257675264

INTERNAL_PRESSURE 9.23864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,24,0,0

TCM_TEMP 16.70 GPS 141107,005538,6133.878,-827.739,30,1.0,30,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 146 91.65 SBE_CT 459 24 257.14

Roll_motor 154 85 307.13 SBE_O2 423 19 187.53

VBD_pump_during_apogee 367 1445 12379.31 WL_BB2F 363 105 889.24

VBD_pump_during_surface 6 876 132.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 26 420 259.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 37 50 18.72

TT8 1251 19 250.33

LPSleep 9573 2 211.76

TT8_Active 561 19 112.19

TT8_Sampling 1748 39 703.02

TT8_CF8 107 45 49.57

TT8_Kalman 31 81 25.96

Analog_circuits 1442 12 174.85

GPS_charging 0 0 0.00

Compass 1677 8 135.50

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.46 -146.6 0.0 0.0 0 155 0.00 0.00 -135.85 0.000 6 0.000 0.000 30 1901 3477

157 -1.46 -146.6 2.4 -2.9 6 178 11.55 2.60 0.00 0.000 4 0.146 0.055 2189 3302 3478

429 -1.46 -146.6 49.1 -12.8 18 434 0.00 2.55 0.00 0.000 6 0.000 0.046 2189 1901 3477

756 -1.46 -146.6 90.1 -12.7 34 760 0.00 2.53 0.00 0.000 4 0.000 0.049 2189 3304 3477

877 -1.46 -146.6 106.0 -11.0 39 885 0.00 2.53 0.00 0.000 6 0.000 0.044 2190 1907 3477

1193 -1.46 -146.6 146.2 -11.9 55 1197 0.00 2.62 0.00 0.000 4 0.000 0.069 2189 491 3477

1225 -1.46 -146.6 150.3 -12.3 56 1231 0.00 2.50 0.00 0.000 6 0.000 0.043 2189 1899 3477

1539 -1.46 -146.6 187.7 -12.3 72 1544 0.00 2.53 0.00 0.000 4 0.000 0.054 2189 3294 3477

1588 -1.46 -146.6 193.6 -12.1 74 1593 0.00 2.53 0.00 0.000 6 0.000 0.044 2189 1900 3477

1909 -1.46 -146.6 234.2 -12.2 90 1910 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 1900 3477

2218 -1.46 -146.6 270.2 -11.0 105 2223 0.00 2.50 0.00 0.000 4 0.000 0.048 2189 3298 3477

2239 -1.46 -146.6 272.5 -10.8 106 2244 0.00 2.53 0.00 0.000 6 0.000 0.044 2190 1897 3477

2566 -1.46 -146.6 308.7 -11.2 122 2567 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 1897 3477

2875 -1.46 -146.6 342.7 -10.7 137 2879 0.00 2.58 0.00 0.000 4 0.000 0.067 2189 495 3477

2901 -1.46 -146.6 345.8 -11.8 138 2907 0.00 2.50 0.00 0.000 6 0.000 0.044 2189 1901 3477

3222 -1.46 -146.6 381.8 -11.1 154 3226 0.00 2.53 0.00 0.000 4 0.000 0.058 2189 3296 3477

3293 -1.46 -146.6 389.8 -10.9 157 3298 0.00 2.53 0.00 0.000 6 0.000 0.049 2189 1905 3477

3617 -1.46 -146.6 426.2 -10.5 173 3621 0.00 2.53 0.00 0.000 4 0.000 0.057 2189 3295 3477

3664 -1.46 -146.6 431.6 -11.0 175 3670 0.00 2.53 0.00 0.000 6 0.000 0.048 2189 1905 3477

3986 -1.46 -146.6 466.8 -11.0 191 3990 0.00 2.60 0.00 0.000 4 0.000 0.071 2189 490 3477

4051 -1.46 -146.6 474.8 -11.4 194 4057 0.00 2.47 0.00 0.000 6 0.000 0.045 2190 1894 3477

4377 -1.46 -146.6 512.7 -11.3 210 4382 0.00 2.53 0.00 0.000 4 0.000 0.054 2189 3298 3476

4461 -1.46 -146.6 523.7 -13.1 214 4465 0.00 2.53 0.00 0.000 6 0.000 0.052 2189 1901 3476

4793 -1.46 -146.6 556.8 -8.2 230 4797 0.00 2.60 0.00 0.000 4 0.000 0.068 2189 488 3476

4841 -1.46 -146.6 561.4 -10.9 232 4846 0.00 2.50 0.00 0.000 6 0.000 0.046 2189 1898 3476

5162 -1.46 -146.6 596.2 -11.9 248 5166 0.00 2.65 0.00 0.000 4 0.000 0.077 2189 488 3476

5290 -1.46 -146.6 613.1 -13.1 254 5294 0.00 2.50 0.00 0.000 6 0.000 0.052 2189 1893 3476

5622 -1.46 -146.6 650.1 -8.7 270 5626 0.00 2.60 0.00 0.000 4 0.000 0.070 2189 3307 3475

5661 -1.46 -146.6 653.6 -9.3 272 5665 0.00 2.58 0.00 0.000 6 0.000 0.059 2189 1900 3476

5986 -1.46 -146.6 682.7 -8.9 288 5990 0.00 2.60 0.00 0.000 4 0.000 0.065 2189 3308 3475

6073 -1.46 -146.6 693.5 -12.2 292 6078 0.00 2.60 0.00 0.000 6 0.000 0.058 2189 1902 3474

6400 -1.46 -146.6 730.4 -11.8 308 6404 0.00 2.67 0.00 0.000 4 0.000 0.084 2189 489 3473

6438 -1.46 -146.6 735.7 -14.7 310 6443 0.00 2.55 0.00 0.000 6 0.000 0.059 2189 1905 3473

6770 -1.46 -146.6 780.9 -14.7 326 6775 0.00 2.62 0.00 0.000 4 0.000 0.077 2189 3301 3471

6831 -1.46 -146.6 787.6 -11.0 329 6835 0.00 2.60 0.00 0.000 6 0.000 0.072 2189 1899 3471

6976 end dive: TARGET_DEPTH_EXCEEDED

state 6976 begin apogee

6980 -0.36 0.0 809.1 15.2 336 7106 1.15 0.00 122.68 1.445 6 0.087 0.000 2433 2102 2878

7107 end apogee: CONTROL_FINISHED_OK

state 7107 begin climb

7108 1.46 146.6 814.4 0.0 342 7239 1.77 2.80 121.82 1.376 4 0.054 0.082 2825 3502 2280

7299 1.46 146.6 804.0 10.3 351 7304 0.00 2.70 0.00 0.000 6 0.000 0.071 2825 2105 2280

7627 1.59 252.0 768.7 5.1 367 7722 0.15 2.75 87.78 1.362 4 0.065 0.071 2862 3504 1850

7975 1.64 293.6 732.0 8.0 383 8017 0.00 2.67 35.40 1.352 6 0.000 0.068 2862 2094 1680

8324 1.64 293.6 678.9 16.0 400 8328 0.00 2.62 0.00 0.000 4 0.000 0.067 2862 3500 1679

8564 1.64 293.6 648.3 12.0 410 8572 0.00 2.65 0.00 0.000 6 0.000 0.064 2861 2100 1678

8880 1.64 293.6 607.7 13.4 426 8885 0.00 2.70 0.00 0.000 4 0.000 0.085 2861 690 1676

8889 1.64 293.6 606.0 13.8 426 8896 0.00 2.58 0.00 0.000 6 0.000 0.054 2861 2097 1676

9205 1.64 293.6 562.7 12.6 442 9209 0.00 2.67 0.00 0.000 4 0.000 0.079 2862 689 1676

9253 1.64 293.6 556.3 12.6 444 9258 0.00 2.55 0.00 0.000 6 0.000 0.051 2862 2093 1676

9574 1.64 293.6 511.4 14.7 460 9578 0.00 2.58 0.00 0.000 4 0.000 0.055 2862 3506 1676

9685 1.64 293.6 493.3 15.8 465 9690 0.00 2.60 0.00 0.000 6 0.000 0.055 2862 2097 1676

10012 1.64 293.6 443.5 14.9 481 10016 0.00 2.58 0.00 0.000 4 0.000 0.051 2862 3512 1676

10095 1.64 293.6 430.7 15.3 485 10099 0.00 2.55 0.00 0.000 6 0.000 0.047 2862 2092 1676

10420 1.64 293.6 383.4 14.6 501 10424 0.00 2.55 0.00 0.000 4 0.000 0.050 2862 3510 1677

10507 1.64 293.6 369.8 15.2 505 10512 0.00 2.58 0.00 0.000 6 0.000 0.045 2862 2098 1677

10835 1.64 293.6 321.4 14.3 521 10839 0.00 2.53 0.00 0.000 4 0.000 0.048 2862 3506 1678

10944 1.64 293.6 304.7 15.2 526 10949 0.00 2.55 0.00 0.000 6 0.000 0.044 2862 2102 1679

11271 1.64 293.6 257.0 14.5 542 11275 0.00 2.53 0.00 0.000 4 0.000 0.048 2862 3514 1680

11451 1.64 293.6 229.8 15.4 550 11455 0.00 2.50 0.00 0.000 6 0.000 0.042 2862 2097 1680

11776 1.64 293.6 183.3 14.2 566 11780 0.00 2.53 0.00 0.000 4 0.000 0.046 2862 3507 1681

11836 1.64 293.6 174.3 14.4 569 11840 0.00 2.47 0.00 0.000 6 0.000 0.042 2862 2100 1681

12170 1.64 293.6 128.0 13.6 585 12174 0.00 2.53 0.00 0.000 4 0.000 0.046 2862 3511 1682

12298 1.64 293.6 110.4 13.8 591 12302 0.00 2.47 0.00 0.000 6 0.000 0.041 2862 2098 1682

12623 1.64 293.6 64.1 14.3 607 12627 0.00 2.53 0.00 0.000 4 0.000 0.046 2862 3512 1683

12721 1.64 293.6 48.7 15.1 611 12729 0.00 2.50 0.00 0.000 6 0.000 0.040 2862 2101 1684

13037 1.64 293.6 6.2 13.5 627 13041 0.00 2.53 0.00 0.000 4 0.000 0.045 2862 3516 1684

13067 end climb: SURFACE_DEPTH_REACHED

state 13067 begin surface coast

13075 end surface coast: CONTROL_FINISHED_OK

state 13075 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	3	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-3	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-76321.961	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2510	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	205844,6132.844,-829.029,13,1.4,13,-9.0	TGT_NAME	FBC_SIL
_CALLS	4	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.143,-0.217
_SM_DEPTHo	0.10	KALMAN_X	-90.7,-74.4,-88.8,1212.9,81.8
_SM_ANGLEo	-54.8	KALMAN_Y	75.1,460.4,256.6,-1278.0,-146.0
GPS2	211432,6132.884,-828.961,35,1.6,35,-9.0	MHEAD_RNG_PITCHd_Wd	155.6,6386,-17.9,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	806

FINISH	0.6,1.027279	XPDR_PINGS	79
SM_CCo	13096,6.50,0.877,0,0,1655,300.00	ALTIM_BOTTOM_PING	752.1,71.0
SM_GC	1.68,0.00,0.00,6.50,0.000,0.000,0.877,36,1892,1655,-11.38,-0.23,300.00	_24V_AH	23.3,12.629
IRIDIUM_FIX	6108.28,-822.48,141107,010120	_10V_AH	10.1,5.255
TT8_MAMPS	0.026845	DATA_FILE_SIZE	31677,629
HUMID	2151	CFSIZE	260165632,257675264
INTERNAL_PRESSURE	9.23864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
TCM_TEMP	16.70	GPS	141107,005538,6133.878,-827.739,30,1.0,30,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	146	91.65	SBE_CT	459	24	257.14
Roll_motor	154	85	307.13	SBE_O2	423	19	187.53
VBD_pump_during_apogee	367	1445	12379.31	WL_BB2F	363	105	889.24
VBD_pump_during_surface	6	876	132.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	26	420	259.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	37	50	18.72
TT8	1251	19	250.33
LPSleep	9573	2	211.76
TT8_Active	561	19	112.19
TT8_Sampling	1748	39	703.02
TT8_CF8	107	45	49.57
TT8_Kalman	31	81	25.96
Analog_circuits	1442	12	174.85
GPS_charging	0	0	0.00
Compass	1677	8	135.50
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.46	-146.6	0.0	0.0	0	155	0.00	0.00	-135.85	0.000	6	0.000	0.000	30	1901	3477
157	-1.46	-146.6	2.4	-2.9	6	178	11.55	2.60	0.00	0.000	4	0.146	0.055	2189	3302	3478
429	-1.46	-146.6	49.1	-12.8	18	434	0.00	2.55	0.00	0.000	6	0.000	0.046	2189	1901	3477
756	-1.46	-146.6	90.1	-12.7	34	760	0.00	2.53	0.00	0.000	4	0.000	0.049	2189	3304	3477
877	-1.46	-146.6	106.0	-11.0	39	885	0.00	2.53	0.00	0.000	6	0.000	0.044	2190	1907	3477
1193	-1.46	-146.6	146.2	-11.9	55	1197	0.00	2.62	0.00	0.000	4	0.000	0.069	2189	491	3477
1225	-1.46	-146.6	150.3	-12.3	56	1231	0.00	2.50	0.00	0.000	6	0.000	0.043	2189	1899	3477
1539	-1.46	-146.6	187.7	-12.3	72	1544	0.00	2.53	0.00	0.000	4	0.000	0.054	2189	3294	3477
1588	-1.46	-146.6	193.6	-12.1	74	1593	0.00	2.53	0.00	0.000	6	0.000	0.044	2189	1900	3477
1909	-1.46	-146.6	234.2	-12.2	90	1910	0.00	0.00	0.00	0.000	6	0.000	0.000	2189	1900	3477
2218	-1.46	-146.6	270.2	-11.0	105	2223	0.00	2.50	0.00	0.000	4	0.000	0.048	2189	3298	3477
2239	-1.46	-146.6	272.5	-10.8	106	2244	0.00	2.53	0.00	0.000	6	0.000	0.044	2190	1897	3477
2566	-1.46	-146.6	308.7	-11.2	122	2567	0.00	0.00	0.00	0.000	6	0.000	0.000	2189	1897	3477
2875	-1.46	-146.6	342.7	-10.7	137	2879	0.00	2.58	0.00	0.000	4	0.000	0.067	2189	495	3477
2901	-1.46	-146.6	345.8	-11.8	138	2907	0.00	2.50	0.00	0.000	6	0.000	0.044	2189	1901	3477
3222	-1.46	-146.6	381.8	-11.1	154	3226	0.00	2.53	0.00	0.000	4	0.000	0.058	2189	3296	3477
3293	-1.46	-146.6	389.8	-10.9	157	3298	0.00	2.53	0.00	0.000	6	0.000	0.049	2189	1905	3477
3617	-1.46	-146.6	426.2	-10.5	173	3621	0.00	2.53	0.00	0.000	4	0.000	0.057	2189	3295	3477
3664	-1.46	-146.6	431.6	-11.0	175	3670	0.00	2.53	0.00	0.000	6	0.000	0.048	2189	1905	3477
3986	-1.46	-146.6	466.8	-11.0	191	3990	0.00	2.60	0.00	0.000	4	0.000	0.071	2189	490	3477
4051	-1.46	-146.6	474.8	-11.4	194	4057	0.00	2.47	0.00	0.000	6	0.000	0.045	2190	1894	3477
4377	-1.46	-146.6	512.7	-11.3	210	4382	0.00	2.53	0.00	0.000	4	0.000	0.054	2189	3298	3476
4461	-1.46	-146.6	523.7	-13.1	214	4465	0.00	2.53	0.00	0.000	6	0.000	0.052	2189	1901	3476
4793	-1.46	-146.6	556.8	-8.2	230	4797	0.00	2.60	0.00	0.000	4	0.000	0.068	2189	488	3476
4841	-1.46	-146.6	561.4	-10.9	232	4846	0.00	2.50	0.00	0.000	6	0.000	0.046	2189	1898	3476
5162	-1.46	-146.6	596.2	-11.9	248	5166	0.00	2.65	0.00	0.000	4	0.000	0.077	2189	488	3476
5290	-1.46	-146.6	613.1	-13.1	254	5294	0.00	2.50	0.00	0.000	6	0.000	0.052	2189	1893	3476
5622	-1.46	-146.6	650.1	-8.7	270	5626	0.00	2.60	0.00	0.000	4	0.000	0.070	2189	3307	3475
5661	-1.46	-146.6	653.6	-9.3	272	5665	0.00	2.58	0.00	0.000	6	0.000	0.059	2189	1900	3476
5986	-1.46	-146.6	682.7	-8.9	288	5990	0.00	2.60	0.00	0.000	4	0.000	0.065	2189	3308	3475
6073	-1.46	-146.6	693.5	-12.2	292	6078	0.00	2.60	0.00	0.000	6	0.000	0.058	2189	1902	3474
6400	-1.46	-146.6	730.4	-11.8	308	6404	0.00	2.67	0.00	0.000	4	0.000	0.084	2189	489	3473
6438	-1.46	-146.6	735.7	-14.7	310	6443	0.00	2.55	0.00	0.000	6	0.000	0.059	2189	1905	3473
6770	-1.46	-146.6	780.9	-14.7	326	6775	0.00	2.62	0.00	0.000	4	0.000	0.077	2189	3301	3471
6831	-1.46	-146.6	787.6	-11.0	329	6835	0.00	2.60	0.00	0.000	6	0.000	0.072	2189	1899	3471
6976	end dive: TARGET_DEPTH_EXCEEDED
state	6976	begin apogee
6980	-0.36	0.0	809.1	15.2	336	7106	1.15	0.00	122.68	1.445	6	0.087	0.000	2433	2102	2878
7107	end apogee: CONTROL_FINISHED_OK
state	7107	begin climb
7108	1.46	146.6	814.4	0.0	342	7239	1.77	2.80	121.82	1.376	4	0.054	0.082	2825	3502	2280
7299	1.46	146.6	804.0	10.3	351	7304	0.00	2.70	0.00	0.000	6	0.000	0.071	2825	2105	2280
7627	1.59	252.0	768.7	5.1	367	7722	0.15	2.75	87.78	1.362	4	0.065	0.071	2862	3504	1850
7975	1.64	293.6	732.0	8.0	383	8017	0.00	2.67	35.40	1.352	6	0.000	0.068	2862	2094	1680
8324	1.64	293.6	678.9	16.0	400	8328	0.00	2.62	0.00	0.000	4	0.000	0.067	2862	3500	1679
8564	1.64	293.6	648.3	12.0	410	8572	0.00	2.65	0.00	0.000	6	0.000	0.064	2861	2100	1678
8880	1.64	293.6	607.7	13.4	426	8885	0.00	2.70	0.00	0.000	4	0.000	0.085	2861	690	1676
8889	1.64	293.6	606.0	13.8	426	8896	0.00	2.58	0.00	0.000	6	0.000	0.054	2861	2097	1676
9205	1.64	293.6	562.7	12.6	442	9209	0.00	2.67	0.00	0.000	4	0.000	0.079	2862	689	1676
9253	1.64	293.6	556.3	12.6	444	9258	0.00	2.55	0.00	0.000	6	0.000	0.051	2862	2093	1676
9574	1.64	293.6	511.4	14.7	460	9578	0.00	2.58	0.00	0.000	4	0.000	0.055	2862	3506	1676
9685	1.64	293.6	493.3	15.8	465	9690	0.00	2.60	0.00	0.000	6	0.000	0.055	2862	2097	1676
10012	1.64	293.6	443.5	14.9	481	10016	0.00	2.58	0.00	0.000	4	0.000	0.051	2862	3512	1676
10095	1.64	293.6	430.7	15.3	485	10099	0.00	2.55	0.00	0.000	6	0.000	0.047	2862	2092	1676
10420	1.64	293.6	383.4	14.6	501	10424	0.00	2.55	0.00	0.000	4	0.000	0.050	2862	3510	1677
10507	1.64	293.6	369.8	15.2	505	10512	0.00	2.58	0.00	0.000	6	0.000	0.045	2862	2098	1677
10835	1.64	293.6	321.4	14.3	521	10839	0.00	2.53	0.00	0.000	4	0.000	0.048	2862	3506	1678
10944	1.64	293.6	304.7	15.2	526	10949	0.00	2.55	0.00	0.000	6	0.000	0.044	2862	2102	1679
11271	1.64	293.6	257.0	14.5	542	11275	0.00	2.53	0.00	0.000	4	0.000	0.048	2862	3514	1680
11451	1.64	293.6	229.8	15.4	550	11455	0.00	2.50	0.00	0.000	6	0.000	0.042	2862	2097	1680
11776	1.64	293.6	183.3	14.2	566	11780	0.00	2.53	0.00	0.000	4	0.000	0.046	2862	3507	1681
11836	1.64	293.6	174.3	14.4	569	11840	0.00	2.47	0.00	0.000	6	0.000	0.042	2862	2100	1681
12170	1.64	293.6	128.0	13.6	585	12174	0.00	2.53	0.00	0.000	4	0.000	0.046	2862	3511	1682
12298	1.64	293.6	110.4	13.8	591	12302	0.00	2.47	0.00	0.000	6	0.000	0.041	2862	2098	1682
12623	1.64	293.6	64.1	14.3	607	12627	0.00	2.53	0.00	0.000	4	0.000	0.046	2862	3512	1683
12721	1.64	293.6	48.7	15.1	611	12729	0.00	2.50	0.00	0.000	6	0.000	0.040	2862	2101	1684
13037	1.64	293.6	6.2	13.5	627	13041	0.00	2.53	0.00	0.000	4	0.000	0.045	2862	3516	1684
13067	end climb: SURFACE_DEPTH_REACHED
state	13067	begin surface coast
13075	end surface coast: CONTROL_FINISHED_OK
state	13075	begin surface